Revision 100
Did more work on autonomous recharging for the robot.
| recharge.c | ||
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#include <move.h> |
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#include <battery.h> |
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#include <dio.h> |
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#include <wl_defs.h> |
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#include "wl_recharge_group.h" |
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#include "seeking.h" |
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#include "departing.h" |
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#include <move.h> |
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// Function prototypes |
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void recharge_check_low_battery(void); |
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void recharge_check_charging_complete(void); |
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void recharge_seek(void); |
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void recharge_depart(void); |
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/** |
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* Initializes recharging. Before this function may be called, |
| ... | ... | |
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WL_DEBUG_PRINT("Unexpected state.\n");
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break; |
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} |
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// show colors if we are debugging |
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#ifdef RECHARGE_DEBUG |
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switch (wl_recharge_get_state()) |
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{
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} |
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#endif |
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return wl_recharge_get_state() != NOT_RECHARGING; |
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} |
| ... | ... | |
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**/ |
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void recharge_check_low_battery() |
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{
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//TODO: implement |
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if (battery is low) |
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//TODO: use battery_low instead of button press |
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//if (battery_low()) |
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if (button2_click()) |
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{
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wl_recharge_begin(); |
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move(0, 0); |
| ... | ... | |
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**/ |
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void recharge_seek() |
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{
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seek_station(); |
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seek_station(wl_recharge_get_station());
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if (battery is charging) |
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//TODO: check if battery is charging |
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//if (battery is charging) |
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if (button2_click()) |
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wl_recharge_dock(); |
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} |
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**/ |
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void recharge_check_charging_complete() |
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{
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if (battery is charged) |
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//TODO: implement |
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//if (battery is charged) |
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if (button2_click()) |
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wl_recharge_depart(); |
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} |
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